CN103231705A - Brake pedal feel flexibly settable electro-hydraulic composite braking system - Google Patents
Brake pedal feel flexibly settable electro-hydraulic composite braking system Download PDFInfo
- Publication number
- CN103231705A CN103231705A CN201310169466XA CN201310169466A CN103231705A CN 103231705 A CN103231705 A CN 103231705A CN 201310169466X A CN201310169466X A CN 201310169466XA CN 201310169466 A CN201310169466 A CN 201310169466A CN 103231705 A CN103231705 A CN 103231705A
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- brake
- pedal
- cylinder
- master
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Regulating Braking Force (AREA)
Abstract
The invention relates to a brake pedal feel flexibly settable electro-hydraulic composite braking system which comprises a hydraulic braking subsystem (1). The hydraulic braking subsystem (1) is formed by an integrated braking main cylinder assembly (10) and a hydraulic control unit (30). The brake pedal feel flexibly settable electro-hydraulic composite braking system also comprises a composite braking control unit RBS (Regenerative Braking System) and a motor regenerative braking subsystem (3). The hydraulic braking subsystem (1), the composite braking control unit RBS and the motor regenerative braking subsystem (3) are sequentially connected. Compared with the prior art, the brake pedal feel flexibly settable electro-hydraulic composite braking system has the advantages of being compact in structure and simple to achieve and enabling pedal force and displacement stroke characteristics to be flexibly adjusted with signals of a pedal feel hydraulic sensor and a pedal displacement sensor as feedback by changing brake pedal feel to simulate pulse width modulation of an electromagnetic valve according to different target vehicles and audiences.
Description
Technical field
The present invention relates to a kind of brake system of car, especially relate to a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly.
Background technology
New-energy automobile dynamic assemblies such as pure electronic, hybrid power and fuel cell electric vehicle are that core has constituted electric propulsion system with electrical motor-storage battery all, when car brakeing, electrical motor is with generation mode work and be battery charge, namely possesses braking energy and reclaims function.Originally with the energy of thermal dissipation, improve energy utilization efficiency, fuel economy and the emission behavior of new-energy automobile when adopting regenerative braking to reclaim car brakeing effectively.Because the electromotor feedback braking torque is subjected to motor total external characteristics and battery charge characteristic limitations, on higher adhesion value road surface or during the high speed emergency braking, can't satisfy the car brakeing demand.With the electric-hydraulic combined brake system that the mechanical friction braking combines and constitutes, can give full play to both advantages.Electric-hydraulic combined brake system not only improves speed of response and the control accuracy of car load brake system, is conducive to guarantee car brakeing safety, has also reduced frequency of utilization and the intensity of mechanical braking friction lining, has prolonged the service life of mechanical braking sytem.
In regeneration brake system, owing to there is motor braking power, can influence the variation of hydraulic braking force, influence the relation of original treadle effort and pedal stroke, also can influence the identification of chaufeur braking intention, brake system can not offer the good brake pedal feel of chaufeur, the safety of influence braking.In order to realize the good feel of brake pedal, need in regeneration brake system, install the brake-pedal travel simulator additional, the nonlinear relationship of brake-pedal travel and brake pedal force, i.e. brake pedal feel in the simulation traditional braking system.Brake pedal feel is one of electric-hydraulic combined brake system core content, it is directly connected to car brakeing safety and driving comfort, therefore according to different target vehicle and audient crowd, design and can realize different treadle efforts and pedal stroke characteristic, the integrated form brake master cylinder assembly of adjusting brake pedal feel neatly is most important.
Electric-hydraulic combined brake system braking energy reclaims ability and control policy is formulated the influence that mainly is subjected to electric system and hydraulic control system, and wherein, electric system is subjected to motor total external characteristics and battery charge Power Limitation.Along with research drops into and technical development, it is relative ripe to be applied in the power assembly system of electric-hydraulic combined braking motor and storage battery type selecting, coupling and control technology, and the hydraulic brake system that satisfies the demand will become emphasis and the difficult point of electric-hydraulic combined brake system design.
Abroad transformed on its existing brake system basis by car production manufacturer and brake safe components supplying merchant mostly and upgrade, and successfully for new-energy automobile, developed the electrically controlled brake system ECB that can coordinate control with hydraulic braking on vehicle body stabilitrak VSC basis as Toyota, be successfully applied to the Prius vehicle, and regenerate and constantly upgrading improvement with the Prius vehicle; Honda has developed the integral type master brake cylinder that possesses brake pedal feel simulation and master cylinder pressure regulatory function, wherein, the brake pedal feel simulator is made of cylindricality rubber and spring, the pressure regulatory function is made up of high-voltage power supply, control cock and 4 electromagnetic valves etc., has been applied to hybrid vehicle Civic Hybrid; TRW is based on the standard electronic stabilizing control system ESC of maturation, take full advantage of vacuum booster and the ESC assembly of standard, released the sure brake system ESC-R that possesses braking energy recovery function, this system is applicable to vehicle different driving forms such as forerunner, rear-guard and 4 wheel drivens.
Said system is made amendment on traditional braking system architecture basis, to satisfy electric-hydraulic combined brake system requirement, is applied to new-energy automobile.But in the such scheme, structure is comparatively complicated after the improvement that has, and is high to manufacture process requirement; The system requirements control logic complexity that has realizes that cost is higher; The still reservation vacuum booster that has, but need the extra vacuum pump that increases.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of electric-hydraulic combined brake system that possesses master, passive hydraulic booster and can adjust brake pedal feel flexibly for the defective that overcomes above-mentioned prior art existence, and this system can adapt to different automobile types and audient crowd.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly, comprise the hydraulic braking subsystem, described hydraulic braking subsystem is made up of integrated form brake master cylinder assembly and hydraulic control unit, it is characterized in that, described electric-hydraulic combined brake system also comprises composite brakig control unit RBS and motor regenerative braking subsystem, and described hydraulic braking subsystem, composite brakig control unit RBS and motor regenerative braking subsystem are connected successively;
Described integrated form brake master cylinder assembly is made up of integrated form master brake cylinder and high pressure fuel source, and described integrated form master brake cylinder comprises that oil cabinet, pedal sense simulation oil-feed electromagnetic valve, pedal sense simulate solenoid, pedal sense hydraulic pressure transducer and housing assembly;
Described pedal sense simulation oil-feed electromagnetic valve one end simulates solenoid one end with pedal sense and is connected, described pedal sense hydraulic pressure transducer and housing assembly are connected on pedal sense simulation oil-feed electromagnetic valve respectively and pedal sense simulates between the solenoid, the other end of described pedal sense simulation oil-feed electromagnetic valve is connected with high pressure fuel source, and the other end that described pedal sense simulates solenoid is connected with oil cabinet.
Described pedal sense simulation oil-feed electromagnetic valve and pedal sense simulate solenoid and are normal pass type electromagnetic valve.
Described housing assembly comprises brake pedal, pedal displacement sensor, cylinder body and is installed in cylinder body interior master brake cylinder push rod, boosting piston, master cylinder first piston, master cylinder first pull back spring, master cylinder second piston, master cylinder second pull back spring;
Described cylinder body is provided with first through hole, second through hole, third through-hole, fourth hole, fifth hole, the 6th through hole and the 7th through hole;
Described brake pedal and pedal displacement sensor are installed on the master brake cylinder push rod;
Described master brake cylinder push rod and boosting piston form pedal sense simulation and passive power-assisted Compound Cavity in cylinder body, the simulation of this pedal sense and passive power-assisted Compound Cavity are connected with oil cabinet by first through hole on the cylinder body, and by second through hole simulate the oil-feed electromagnetic valve with pedal sense respectively, pedal sense simulates solenoid and the pedal sense hydraulic pressure transducer is connected;
Described boosting piston and master cylinder first piston form initiatively power-assisted chamber in cylinder body, this initiatively is connected with oil cabinet with high pressure fuel source respectively by the third through-hole on the cylinder body in the power-assisted chamber;
Described master cylinder first piston and master cylinder second piston form the master cylinder back cavity in cylinder body, this master cylinder back cavity is connected with oil cabinet by the fourth hole on the cylinder body, and be connected with hydraulic control unit by fifth hole, the described first pull back spring two ends are separately fixed on master cylinder first piston and master cylinder second piston end face;
The sidewall of described master cylinder second piston and cylinder body forms the master cylinder ante-chamber, this master cylinder ante-chamber is communicated with oil cabinet by the 6th through hole on the cylinder body, and be connected with hydraulic control unit by the 7th through hole, the described second pull back spring two ends are separately fixed on the sidewall of master cylinder second piston end face and cylinder body.
Described high pressure fuel source comprises first check valve, motor-drive pump, second check valve, high pressure accumulator, oil pressure pressure sensor and open type switch electromagnetic valve, described third through-hole is connected with the entrance of oil pressure pressure sensor, high pressure accumulator and switch electromagnetic valve respectively, the outlet of switch electromagnetic valve connects oil cabinet, the entrance of described motor-drive pump is connected with oil cabinet by first check valve, and electronic delivery side of pump is connected with high pressure accumulator by second check valve.
Described hydraulic control unit is provided with two input ports and four delivery ports, each input port correspondence is provided with two delivery ports, described two input ports connect fifth hole and the 7th through hole on the cylinder body respectively, described four delivery ports connect the brake wheel cylinder of four wheels respectively, form four and independently control branch road.
Described hydraulic control unit comprises hydraulic package and the control group for four brake wheel cylinders of control, two control branch roads of described each input port correspondence share one group of hydraulic package, every the control branch road is equipped with control group, described hydraulic package comprises check valve, Hydraulic Pump, oil return motor and low pressure accumulator, described Hydraulic Pump lays respectively at oil return motor both sides, by the oil return motor-driven, respectively there is a check valve both sides of described Hydraulic Pump; Described control group is made up of open type switch electromagnetic valve and normal pass type switch electromagnetic valve.
Be equipped with wheel speed sensors on the brake wheel cylinder of described four wheels.
Described motor regenerative braking subsystem comprises motor, electric machine controller MCU, entire car controller VMS, battery management system BMS and the battery pack that connects successively, and described entire car controller VMS is connected with composite brakig control unit RBS.
Described composite brakig control unit RBS possesses data acquisition interface, drive output interface and communication interface, described data acquisition interface respectively with the pedal displacement sensor, the oil pressure pressure sensor, wheel speed sensors and pedal sense hydraulic pressure transducer connect, described driving output interface and pedal sense simulation oil-feed electromagnetic valve, pedal sense simulates solenoid and is connected with motor-drive pump and open type switch electromagnetic valve in the high pressure fuel source, described communication interface comprises two at least, a communication interface is connected with entire car controller VMS, and another communication interface is connected with hydraulic control unit.
This system has initial readiness, normal working and three kinds of mode of operations of failure state, described normal working comprises conventional brake master mode, ABS master mode and ASR master mode, described ABS master mode is divided into two kinds of control methods: 1) when ABS entered control, regenerative braking was withdrawed from immediately; 2) when ABS enters control, regenerative braking power participates in ABS control.
Compared with prior art, the present invention has the following advantages:
1, pedal sense simulation that the present invention is integrated and main passive hydraulic booster function are compared with the composite braking system of motor mechanism power-assisted with the traditional vacuum force aid system, and compact conformation of the present invention, flexible for installation, control are accurately.
2, the present invention can be according to different target vehicle type and audient crowd, simulate solenoid modulation pulsewidth by control pedal sensation simulation oil-feed electromagnetic valve and pedal sense, realize different treadle efforts and pedal stroke characteristic, adjust brake pedal feel flexibly, guarantee the conformability of electric-hydraulic combined brake system brake pedal feel under different master modes.
3, the present invention possesses main passive hydraulic booster function, improves braking response speed, is conducive to accurately control pressure of wheel braking cylinder and improves brake efficiency.
4, the present invention possesses emergency braking function under the failure state, still possesses passive hydraulic booster function under failure state, has effectively guaranteed brake safe.
5, the present invention adopts the hydraulic control unit of traditional ABS system, continues to use traditional braking system master cylinder, and production technology is simple, cost is lower.
6, extendability and applicability are good, and composite brakig control unit RBS of the present invention can possess ESP, use function such as cruise certainly after expansion, can be widely used in pure electric automobile, hybrid vehicle and the fuel cell powered vehicle.
Description of drawings
Fig. 1 is structural representation of the present invention.
Among the figure: 1, hydraulic braking subsystem; 101, first check valve; 102, motor-drive pump; 103, second check valve; 104, high pressure accumulator; 105, oil pressure pressure sensor; 106, open type switch electromagnetic valve; 201, oil cabinet; 202, pedal sense simulation oil-feed electromagnetic valve; 203, pedal sense simulates solenoid; 204, pedal sense hydraulic pressure transducer; 205, housing assembly; 206, brake pedal; 207, pedal displacement sensor; 208, cylinder body; 209, master brake cylinder push rod; 210, pedal sense simulation and passive power-assisted Compound Cavity; 211, boosting piston; 212, active power-assisted chamber; 213, master cylinder first piston; 214, master cylinder back cavity; 215, master cylinder first pull back spring; 216, master cylinder second piston; 217, master cylinder ante-chamber; 218, master cylinder second pull back spring; 2-1, first through hole; 2-2, second through hole; 2-3, third through-hole; 2-4, fourth hole; 2-5, fifth hole; 2-6, the 6th through hole; 2-7, the 7th through hole; 30, hydraulic control unit; 301,302,303,304, check valve; 305,306, Hydraulic Pump; 307, oil return motor; 308,309, low pressure accumulator; 310,311,312,313, open type switch electromagnetic valve; 314,315,316,317, normal pass type switch electromagnetic valve; 401, the near front wheel brake wheel cylinder; 402, off hind wheel brake wheel cylinder; 403, off front wheel brake wheel cylinder; 404, left rear wheel brake wheel cylinder; 405,406,407,408, wheel speed sensors; RBS, composite brakig control unit; 3, motor regenerative braking subsystem; 3-1, motor; VMS, entire car controller; MCU, electric machine controller; BMS, battery management system; 3-2, battery pack.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
As shown in Figure 1, a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly, comprise hydraulic braking subsystem 1, described hydraulic braking subsystem 1 is made up of integrated form brake master cylinder assembly 10 and hydraulic control unit 30, described electric-hydraulic combined brake system also comprises composite brakig control unit RBS and motor regenerative braking subsystem 3, and described hydraulic braking subsystem 1, composite brakig control unit RBS and motor regenerative braking subsystem 3 are connected successively; Described motor regenerative braking subsystem 3 is made up of motor 3-1, electric machine controller MCU, entire car controller VMS, battery management system BMS and battery pack 3-2.
Described integrated form brake master cylinder assembly 10 is made up of integrated form master brake cylinder and high pressure fuel source, and described integrated form master brake cylinder comprises that oil cabinet 201, pedal sense simulation oil-feed electromagnetic valve 202, pedal sense simulate solenoid 203, pedal sense hydraulic pressure transducer 204 and housing assembly 205; Described pedal sense simulation oil-feed electromagnetic valve 202 simulates solenoid 203 with pedal sense and is connected, point of connection is connected with housing assembly 205 with pedal sense hydraulic pressure transducer 204 respectively in the middle of it, the other end of described pedal sense simulation oil-feed electromagnetic valve 202 is connected with high pressure fuel source, and the other end that described pedal sense simulates solenoid 203 is connected with oil cabinet 201.
Basic functional principle: composite brakig control unit RBS gathers brake pedal displacement pickup 207 and obtains driver's brake operating intention, calculates the required braking force of driver; Obtain vehicle running state by gathering wheel speed sensors 405,406,407,408; Provide initiatively hydraulic booster by gathering oil pressure pressure sensor 105 control motor-drive pumpes 102 and open type switch electromagnetic valve 106 for the integrated form master brake cylinder; But carry out communication by CAN bus and motor regenerative braking subsystem 3 and obtain the current maximum regenerative braking of vehicle power; According to vehicle current state and road condition, determine master mode, reasonable distribution electricity regenerative braking power and hydraulic braking force.Composite brakig control unit RBS controls by 30 pairs of each pressure of wheel braking cylinder of the total line control hydraulic control unit of CAN and variation thereof.
The brake pedal feel simulation process comprises to be stepped on brake pedal 206 and lifts 206 two parts of brake pedal, when stepping on brake pedal 206, pedal sense simulation oil-feed electromagnetic valve 202 is closed, and simulates solenoid 203 modulation pulsewidths by gathering pedal sense hydraulic pressure transducer 204 and pedal displacement sensor 207 signal control pedal senses; When lifting brake pedal 206, pedal sense simulates solenoid 203 and closes, by gathering pedal sense hydraulic pressure transducer 204 and pedal displacement sensor 207 signal control pedal senses simulation oil-feed electromagnetic valve 202 modulation pulsewidths, guarantee good treadle effort and pedal stroke characteristic in the braking procedure.The present invention is according to different target vehicle and audient crowd, simulate solenoid 203 modulation pulsewidths by control pedal sensation simulation oil-feed electromagnetic valve 202 and pedal sense, can realize different treadle efforts and pedal stroke characteristic, adjust brake pedal feel flexibly.
Because electro-motive vehicle is generally f-w-d, so following electro-motive vehicle with f-w-d is embodiment, further specify a kind of mode of operation of the electric-hydraulic combined brake system that can set brake pedal feel flexibly and the working process of master mode.
1, initial readiness
When motor vehicle braking system does not power on, electric-hydraulic combined brake system is in initial condition, at this moment, do not step on brake pedal 206, motor-drive pump 102 is not worked, and open type switch electromagnetic valve 106 is opened, and high pressure accumulator 104 is not set up high pressure, boosting piston 211, master cylinder first piston 213 and master cylinder second piston 216 are positioned at the rightmost of movement travel separately, i.e. initial position respectively in cylinder body under master cylinder first pull back spring 215 and 218 effects of master cylinder second pull back spring; Pedal sense simulation oil-feed electromagnetic valve 202 and pedal sense simulate solenoid 203 and all close, pedal sense simulation and passive power-assisted Compound Cavity 210 are full of braking liquid, master brake cylinder push rod 209 is in pedal sense simulation and passive power-assisted Compound Cavity 210 low order ends, contacts with cylinder body 208 sidewalls; Initiatively power-assisted chamber 212 communicates with oil cabinet 201 by the open type switch electromagnetic valve of opening 106, master cylinder ante-chamber 217, master cylinder back cavity 214 communicate with oil cabinet 201 by the 6th through hole 306 and fourth hole 304 respectively, and master cylinder ante-chamber 217, master cylinder back cavity 214 communicate with hydraulic control unit by the 7th through hole 307 and fifth hole 305 respectively; Whole integrated form brake master cylinder assembly pressure everywhere is zero.
After electric-hydraulic combined brake system powers on, system enters readiness, this stage time length is shorter, open type switch electromagnetic valve 106 is closed, motor-drive pump 102 is through extracting braking liquid and pump into high pressure accumulator 104 and active power-assisted chamber 212 behind second check valve 103 from oil cabinet 201 behind first check valve 101, master cylinder first piston 213 and master cylinder second piston 216 move to left under 212 effects of active power-assisted chamber, seal fourth hole 304 and the 6th through hole 306 respectively, master cylinder back cavity 214 and master cylinder ante-chamber 217 disconnect with oil cabinet 201, and set up high pressure; Brak control unit can be kept the stable of high pressure accumulator 104 pressure by control motor-drive pump 102 by gathering oil pressure pressure sensor 105 signals, for braking maneuver afterwards provides initiatively power-assisted; Pedal sense simulation oil-feed electromagnetic valve 202 and pedal sense simulate solenoid 203 and keep closing.
2, normal working
During electric-hydraulic combined brake system normal operation, step on brake pedal 206, master brake cylinder push rod 209 moves to left under brake pedal 206 effects, pedal sense simulation oil-feed electromagnetic valve 202 is closed, simulate solenoid 203 modulation pulsewidths by gathering pedal sense hydraulic pressure transducer 204 and pedal displacement sensor 207 signal control pedal senses, with control feel simulation and passive power-assisted Compound Cavity 210 braking liquid discharge and pressure, owing to initiatively set up high pressure in the power-assisted chamber 212, boosting piston 211 can not move to left, sensation simulation and passive power-assisted Compound Cavity 210 brakings liquid react on master brake cylinder push rod 209, and suitable brake pedal feel is provided; Braking liquid from oil cabinet 201 in first through hole 301 flows into space between master brake cylinder push rod 209 right sides and cylinder body 208 right side walls.In the brake system course of normal operation, motor-drive pump 102 and high pressure accumulator 104 are regulated for the pressure of four brake wheel cylinders constantly high hydraulic brake fluid are provided.In normal operation, system comprises conventional brake master mode, ABS master mode, ASR master mode and ESP pattern, composite brakig control unit RBS determines the master mode of electric-hydraulic combined brake system according to vehicle-state and road condition, respectively these four kinds of master modes is set forth below:
1) conventional brake master mode
The conventional brake master mode refers to each parts normal operation of motor vehicle braking system, and the braking master mode of vehicle when locking, understeer not taking place and trend such as turning to too much, comprises pure hydraulic braking, pure regenerative braking and three kinds of modes of electric-hydraulic combined braking.
When chaufeur is stepped on brake pedal 206, from the output signal of pedal displacement sensor 207, explain braking intention and the braking requirement of chaufeur, entire car controller VMS obtains vehicle dynamic assembly information such as drive motor and electrokinetic cell by the CAN bus from electric machine controller MCU and battery management system BMS, the current maximum feedback moment values T0 that can provide of drive motor is provided, and maximum feedback moment values T0 is sent to composite brakig control unit RBS by the CAN bus.
Composite brakig control unit RBS is according to wheel speed sensors 405,406,407,408 and oil pressure pressure sensor 105, before the brake legislation distribution, back axle braking force is respectively M1, M2, the maximum feedback moment values T0 that determines in conjunction with motor regenerative braking subsystem 3, motor regenerative braking power and hydraulic braking force to front axle are distributed, obtain current motor regenerative braking power T1 and hydraulic braking force T2, to work as front motor regenerative braking power T1 and send to entire car controller VMS by the CAN bus, entire car controller sends to electric machine controller MCU with motor regenerative braking power T1 instruction by the CAN bus and sends regenerative braking moment with the control drive motor; Composite brakig control unit RBS sends to hydraulic control unit 30 with front axle hydraulic braking force T2 and rear axle hydraulic braking force M2 instruction by the CAN bus.Hydraulic control unit 30 changes according to front axle hydraulic braking force T2 and rear axle hydraulic braking force M2 instruction, by to the open type switch electromagnetic valve 310,311,312 of brake wheel cylinder 401,402,403,404 branch roads, 313 and often pass type switch electromagnetic valve 314,315,316,317 control, realize brake wheel cylinder 401,402,403,404 supercharging, pressurize and decompression by pulse duration modulation, to reach the target hydraulic braking force.
When the speed of a motor vehicle was reduced to a certain value, the drive motor rotating speed dropped to a certain than low value thereupon, and the feedback moment that drive motor can provide diminishes rapidly and reduces to zero (this is determined by the drive motor self character).When composite brakig control unit RBS divides gas-distributing motor regenerative braking power T1 and hydraulic braking force T2, will reduce motor regenerative braking power T1 gradually and increase hydraulic braking force T2, to satisfy total braking requirement.
When braking procedure finishes, pedal sense simulates solenoid 203 and closes, and gets back to initial position by gathering pedal sense hydraulic pressure transducer 204 and pedal displacement sensor 207 signal control pedal senses simulation oil-feed electromagnetic valve 202 modulation pulsewidth brake pedals 206 under pedal sense simulation and 209 effects of passive main force Compound Cavity; Open type switch electromagnetic valve 310,311,312,313 and often pass type switch electromagnetic valve 314,315,316,317 all close, oil return motor 307 drives Hydraulic Pumps 305,306 work, gets back to master cylinder back cavity 214 and master cylinder ante-chamber 217 with coming in the low pressure accumulator 308,309 braking liquid in the braking procedure by brake piping.
2) ABS master mode
When composite brakig control unit RBS monitors wheel lockup trend is arranged in the braking procedure, system enters the ABS master mode, and this master mode comprises two kinds of control methods:
A, when ABS enters when control, regenerative braking is withdrawed from immediately
When monitoring, composite brakig control unit RBS need carry out ABS when control, carry out communication by CAN bus and entire car controller VMS, entire car controller VMS control electric machine controller MCU is kept to zero according to certain strategy with regenerative braking moment, withdraws from the braking energy feedback braking.When ABS control is withdrawed from, composite brakig control unit RBS sends entire car controller VMS by the CAN bus and recovers the braking energy feedback braking, entire car controller VMS sends the current motor regenerative braking torque command value T1 that should be applied to wheel and sends to electric machine controller MCU, adopts above-mentioned control method in braking energy loop control pattern to carry out regenerative braking.When ABS entered control, after regenerative braking was withdrawed from immediately, abs braking control was realized by hydraulic braking force that fully specific implementation and ABS master mode are similar.
B, when ABS enters when control, regenerative braking power participates in ABS control
When monitoring, composite brakig control unit RBS need carry out ABS when control, composite brakig control unit RBS carries out communication by CAN bus and entire car controller VMS, enter ABS control immediately, entire car controller VMS notice electric machine controller MCU enters ABS control immediately, electric-hydraulic combined brak control unit RBS to adjusting regenerative braking power and hydraulic braking force, realizes the integrated control of ABS and regenerative braking according to corresponding control policy.When ABS control was withdrawed from, composite brakig control unit RBS notice entire car controller VMS recovered regenerative braking, adopts above-mentioned control method in the braking energy feedback master mode to carry out regenerative braking.When ABS entered control, motor regenerative braking power and hydraulic braking force acted on wheel simultaneously, in finishing the abs braking process, have realized the recovery of energy.
Need in the ABS master mode to a certain wheel pressure of wheel braking cylinder reduce pressure, pressurize and boost control.Suppose that locking slippage trend appears in the near front wheel 401, at this moment, close open type switch electromagnetic valve 310, open normal pass type switch electromagnetic valve 314 according to certain control pulsewidth, make the near front wheel 401 pressure of wheel cylinder inside brake liquid low pressure accumulator 309 that goes back, brake wheel cylinder 401 pressure reduce.The pressure changing down can be realized by the modulation pulsewidth of the normal pass of control type switch electromagnetic valve 314.Equally, by to closing open type switch electromagnetic valve 310 and 314 controls of normal pass type switch electromagnetic valve, can realize pressurize and the supercharging of the near front wheel pressure of wheel cylinder 401 in the ABS master mode.
3) ASR master mode
ASR is called the anti-skidding control of driving, is called TCS again.When vehicle low when adhering to the road surface and travelling, during the violent stepping on accelerator pedal of chaufeur, drive wheel can trackslip, and enters the ASR master mode this moment.Thereby the ASR master mode can reduce its slip level by the wheel that trackslips is implemented braking.When certain drive wheel trackslips, be example with the near front wheel brake wheel cylinder 401, close normal pass type switch electromagnetic valve 314, open open type switch electromagnetic valve 310 according to certain modulation pulsewidth, the near front wheel pressure of wheel cylinder 401 pressure are raise, reduce slip level.Rate of pressure rise can be realized by the modulation pulsewidth of control open type switch electromagnetic valve 310.Equally, by to closing open type switch electromagnetic valve 310 and 314 controls of normal pass type switch electromagnetic valve, can realize pressurize and the step-down of the near front wheel brake wheel cylinder 401 pressure in the ASR master mode.
3, failure state
If when electric system inefficacy (as unexpected power down) or high-voltage power supply can not be set up high pressure (as high pressure accumulator 104 faults), the electric-hydraulic combined brake system of the present invention entered failure mode.Open type switch electromagnetic valve 310,311,312,313, often pass type switch electromagnetic valve 314,315,316,317 is all closed; Motor-drive pump 102 quits work, and open type switch electromagnetic valve 106 is opened, and high pressure accumulator 104 can not provide high pressure, and initiatively power-assisted chamber 212 communicates with oil cabinet 201 by the open type switch electromagnetic valve of opening 106, and the active power-assisted can not be provided again; Pedal sense simulation oil-feed electromagnetic valve 202 and pedal sense simulate solenoid 203 and all close, and pedal sense simulation and passive power-assisted Compound Cavity 210 are full of braking liquid; Boosting piston 211, master cylinder first piston 213 and master cylinder second piston 216 are got back to initial position respectively under master cylinder first pull back spring 215 and 218 effects of master cylinder second pull back spring, master cylinder ante-chamber 217, master cylinder back cavity 214 communicate with fluid reservoir 201 by the 6th through hole 2-6 and fourth hole 2-4 respectively.
When chaufeur has braking requirement, by stepping on brake pedal 206 deeply, master brake cylinder push rod 209 promotes the braking liquid in the 219 promotion pedal sense simulations of master brake cylinder push rod and the passive power-assisted Compound Cavity 210, act on boosting piston 211, and act on master cylinder first piston 213, set up high pressure simultaneously at master cylinder ante-chamber 217 and master cylinder back cavity 214, master cylinder ante-chamber 217 and master cylinder back cavity 214 inside brake liquid flow to four brake wheel cylinders 401,402,403,404, guarantee four brake wheel cylinders 401,402,403,404 brake-pressure has been realized the emergency braking under the failure state.After boosting piston 211 moved to left, brake pedal force had been realized amplification under pedal sense simulation and the 210 hydraulic booster effects of passive power-assisted Compound Cavity, namely can realize the passive power-assisted of brake pedal under failure state.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all within the spirit and principles in the present invention any modification, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the electric-hydraulic combined brake system that can set brake pedal feel flexibly, comprise hydraulic braking subsystem (1), described hydraulic braking subsystem (1) is made up of integrated form brake master cylinder assembly (10) and hydraulic control unit (30), it is characterized in that, described electric-hydraulic combined brake system also comprises composite brakig control unit RBS and motor regenerative braking subsystem (3), and described hydraulic braking subsystem (1), composite brakig are controlled single RBS and be connected successively with motor regenerative braking subsystem (3);
Described integrated form brake master cylinder assembly (10) is made up of integrated form master brake cylinder and high pressure fuel source, and described integrated form master brake cylinder comprises that oil cabinet (201), pedal sense simulation oil-feed electromagnetic valve (202), pedal sense simulate solenoid (203), pedal sense hydraulic pressure transducer (204) and housing assembly (205);
Described pedal sense simulation oil-feed electromagnetic valve (202) one ends simulate solenoid (203) one ends with pedal sense and are connected, described pedal sense hydraulic pressure transducer (204) and housing assembly (205) are connected on pedal sense simulation oil-feed electromagnetic valve (202) respectively and pedal sense simulates between the solenoid (203), the other end of described pedal sense simulation oil-feed electromagnetic valve (202) is connected with high pressure fuel source, and the other end that described pedal sense simulates solenoid (203) is connected with oil cabinet (201).
2. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 1 is characterized in that, described pedal sense simulation oil-feed electromagnetic valve (202) and pedal sense simulate solenoid (203) and be normal pass type electromagnetic valve.
3. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 1, it is characterized in that described housing assembly (205) comprises brake pedal (206), pedal displacement sensor (207), cylinder body (208) and is installed in cylinder body (208) interior master brake cylinder push rod (209), boosting piston (211), master cylinder first piston (213), master cylinder first pull back spring (215), master cylinder second piston (216), master cylinder second pull back spring (218);
Described cylinder body (208) is provided with first through hole (2-1), second through hole (2-2), third through-hole (2-3), fourth hole (2-4), fifth hole (2-5), the 6th through hole (2-6) and the 7th through hole (2-7);
Described brake pedal (206) and pedal displacement sensor (207) are installed on the master brake cylinder push rod (209);
Described master brake cylinder push rod (209) forms pedal sense simulation and passive power-assisted Compound Cavity (210) with boosting piston (211) in cylinder body (208), the simulation of this pedal sense and passive power-assisted Compound Cavity (210) are connected with oil cabinet (201) by first through hole (2-1) on the cylinder body (208), and by second through hole (2-2) simulate oil-feed electromagnetic valve (202) with pedal sense respectively, pedal sense simulates solenoid (203) and pedal sense hydraulic sensing (204) is connected;
Described boosting piston (211) and master cylinder first piston (213) form initiatively power-assisted chamber (212) in cylinder body (208), this active power-assisted chamber (212) is connected with oil cabinet (201) with high pressure fuel source respectively by the third through-hole (2-3) on the cylinder body (208);
Described master cylinder first piston (213) forms master cylinder back cavity (214) with master cylinder second piston (216) in cylinder body (208), this master cylinder back cavity (214) is connected with oil cabinet by the fourth hole (2-4) on the cylinder body (208), and be connected with hydraulic control unit (30) by fifth hole (2-5), described first pull back spring (215) two ends are separately fixed on the end face of master cylinder first piston (213) and master cylinder second piston (216);
Described master cylinder second piston (216) forms master cylinder ante-chamber (217) with the sidewall of cylinder body (208), this master cylinder ante-chamber (217) is communicated with oil cabinet (201) by the 6th through hole (2-6) on the cylinder body (208), and be connected with hydraulic control unit (30) by the 7th through hole (2-7), described second pull back spring (218) two ends are separately fixed on the sidewall of the end face of master cylinder second piston (216) and cylinder body (208).
4. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 3, it is characterized in that, described high pressure fuel source comprises first check valve (101), motor-drive pump (102), second check valve (103), high pressure accumulator (104), oil pressure pressure sensor (105) and open type switch electromagnetic valve (106), described third through-hole (2-3) respectively with oil pressure pressure sensor (105), high pressure accumulator (104) is connected with the entrance of switch electromagnetic valve (106), the outlet of switch electromagnetic valve (106) connects oil cabinet (201), the entrance of described motor-drive pump (102) is connected with oil cabinet (201) by first check valve (101), and the outlet of motor-drive pump (102) is connected with high pressure accumulator (104) by second check valve (103).
5. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 3, it is characterized in that, described hydraulic control unit (30) is provided with two input ports and four delivery ports, each input port correspondence is provided with two delivery ports, described two input ports connect fifth hole (2-5) and the 7th through hole (2-7) on the cylinder body (205) respectively, described four delivery ports connect the brake wheel cylinder (401,402,403,404) of four wheels respectively, form four and independently control branch road.
6. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 5, it is characterized in that, described hydraulic control unit (30) comprises for four brake wheel cylinders (401 of control, 402,403,404) hydraulic package and control group, two control branch roads of described each input port correspondence share one group of hydraulic package, every the control branch road is equipped with control group, described hydraulic package comprises check valve (301,302,303,304), Hydraulic Pump (305,306), oil return motor (307) and low pressure accumulator (308,309), described Hydraulic Pump (305,306) lay respectively at oil return motor (307) both sides, driven described Hydraulic Pump (305 by oil return motor (307), 306) respectively there is a check valve both sides; Described control group is made up of open type switch electromagnetic valve (310,311,312,313) and normal pass type switch electromagnetic valve (314,315,316,317).
7. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 5, it is characterized in that, be equipped with wheel speed sensors (405,406,407,408) on the brake wheel cylinder of described four wheels (401,402,403,404).
8. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 1, it is characterized in that, described motor regenerative braking subsystem (3) comprises motor (3-1), electric machine controller MCU, entire car controller VMS, battery management system BMS and the battery pack (3-2) that connects successively, and described entire car controller VMS is connected with composite brakig control unit RBS.
9. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 1, it is characterized in that, described composite brakig control unit RBS possesses data acquisition interface, drive output interface and communication interface, described data acquisition interface respectively with pedal displacement sensor (207), oil pressure pressure sensor (105), wheel speed sensors (405,406,407,408) and pedal sense hydraulic pressure transducer (204) connect, described driving output interface and pedal sense simulation oil-feed electromagnetic valve (202), pedal sense simulates solenoid (203) and is connected with motor-drive pump (102) and open type switch electromagnetic valve (106) in the high pressure fuel source, described communication interface comprises two at least, a communication interface is connected with entire car controller VMS, and another communication interface is connected (30) with hydraulic control unit.
10. a kind of electric-hydraulic combined brake system that can set brake pedal feel flexibly according to claim 1, it is characterized in that, this system has initial readiness, normal working and three kinds of mode of operations of failure state, described normal working comprises conventional brake master mode, ABS master mode and ASR master mode, described ABS master mode is divided into two kinds of control methods: 1) when ABS entered control, regenerative braking was withdrawed from immediately; 2) when ABS enters control, regenerative braking power participates in ABS control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310169466.XA CN103231705B (en) | 2013-05-09 | 2013-05-09 | Brake pedal feel flexibly settable electro-hydraulic composite braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310169466.XA CN103231705B (en) | 2013-05-09 | 2013-05-09 | Brake pedal feel flexibly settable electro-hydraulic composite braking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103231705A true CN103231705A (en) | 2013-08-07 |
| CN103231705B CN103231705B (en) | 2015-02-18 |
Family
ID=48879801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310169466.XA Active CN103231705B (en) | 2013-05-09 | 2013-05-09 | Brake pedal feel flexibly settable electro-hydraulic composite braking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103231705B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481879A (en) * | 2013-09-26 | 2014-01-01 | 北京航空航天大学 | Line control brake system pedal force simulation and braking force control system of electric car |
| CN103786703A (en) * | 2014-01-28 | 2014-05-14 | 同济大学 | Electro-hydraulic composite braking system hierarchical control structure and method of integrated braking cylinder |
| CN104033434A (en) * | 2014-06-19 | 2014-09-10 | 北京北方车辆集团有限公司 | Automatic oil return device for vehicular hydraulic systems and control circuit thereof |
| CN104709248A (en) * | 2013-12-13 | 2015-06-17 | 株式会社万都 | Pedal feeling adjusting device |
| CN105070180A (en) * | 2015-07-15 | 2015-11-18 | 无锡商业职业技术学院 | Automobile hydraulic brake system experimental device |
| CN105818797A (en) * | 2015-01-26 | 2016-08-03 | 株式会社万都 | Electronic brake system |
| CN108032848A (en) * | 2018-01-08 | 2018-05-15 | 吉林大学 | A kind of brake power recovering device and its control method |
| CN108082162A (en) * | 2016-11-23 | 2018-05-29 | 通用汽车环球科技运作有限责任公司 | System is managed for the brake fade of line control brake system |
| CN108162942A (en) * | 2018-02-06 | 2018-06-15 | 吉林大学 | The line traffic control brake fluid system and its brake control method of four-wheel pressure independent control |
| CN109353323A (en) * | 2018-10-25 | 2019-02-19 | 宁波圣龙汽车动力***股份有限公司 | The ABS control system and method for Electro-hydraulic brake based on hub motor |
| CN109367395A (en) * | 2018-11-14 | 2019-02-22 | 南京航空航天大学 | A kind of Electro-hydraulic brake system and its control method |
| CN109476298A (en) * | 2016-07-27 | 2019-03-15 | 株式会社爱德克斯 | The brake control of vehicle |
| CN110182187A (en) * | 2019-05-21 | 2019-08-30 | 清华大学 | Energy feedback type active brake system and control method with fail safe ability |
| CN110316173A (en) * | 2019-06-21 | 2019-10-11 | 芜湖伯特利电子控制***有限公司 | A method of ESC function and active safety control are realized by automatically controlled Booster and ABS linkage |
| US10464536B2 (en) | 2016-11-11 | 2019-11-05 | Honda Motor Co., Ltd. | Adaptive vehicle braking systems, and methods of use and manufacture thereof |
| CN111923886A (en) * | 2020-07-07 | 2020-11-13 | 南京天航智能装备研究院有限公司 | Line-controlled chassis electro-hydraulic composite braking system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3020720C2 (en) * | 1980-05-31 | 1987-05-27 | Alfred Teves Gmbh, 6000 Frankfurt, De | |
| CN1683196A (en) * | 2004-04-14 | 2005-10-19 | 福特环球技术公司 | Vehicle and method for controlling brake system indicators |
| CN102026854A (en) * | 2008-06-11 | 2011-04-20 | 罗伯特.博世有限公司 | Brake device for a motor vehicle comprising at least three brake circuits |
| CN102582601A (en) * | 2012-03-02 | 2012-07-18 | 同济大学 | Electric-hydro complex brake system employing integral brake master cylinder assembly |
| CN102975702A (en) * | 2012-12-12 | 2013-03-20 | 奇瑞汽车股份有限公司 | Tandem regenerative brake control method |
-
2013
- 2013-05-09 CN CN201310169466.XA patent/CN103231705B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3020720C2 (en) * | 1980-05-31 | 1987-05-27 | Alfred Teves Gmbh, 6000 Frankfurt, De | |
| CN1683196A (en) * | 2004-04-14 | 2005-10-19 | 福特环球技术公司 | Vehicle and method for controlling brake system indicators |
| CN102026854A (en) * | 2008-06-11 | 2011-04-20 | 罗伯特.博世有限公司 | Brake device for a motor vehicle comprising at least three brake circuits |
| CN102582601A (en) * | 2012-03-02 | 2012-07-18 | 同济大学 | Electric-hydro complex brake system employing integral brake master cylinder assembly |
| CN102975702A (en) * | 2012-12-12 | 2013-03-20 | 奇瑞汽车股份有限公司 | Tandem regenerative brake control method |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481879B (en) * | 2013-09-26 | 2015-08-26 | 北京航空航天大学 | The simulation of a kind of electronlmobil line control brake system treadle effort and braking force controller |
| CN103481879A (en) * | 2013-09-26 | 2014-01-01 | 北京航空航天大学 | Line control brake system pedal force simulation and braking force control system of electric car |
| CN104709248A (en) * | 2013-12-13 | 2015-06-17 | 株式会社万都 | Pedal feeling adjusting device |
| CN104709248B (en) * | 2013-12-13 | 2017-10-13 | 株式会社万都 | Variable pedal sense adjusting means |
| CN103786703A (en) * | 2014-01-28 | 2014-05-14 | 同济大学 | Electro-hydraulic composite braking system hierarchical control structure and method of integrated braking cylinder |
| CN103786703B (en) * | 2014-01-28 | 2017-04-12 | 同济大学 | Electro-hydraulic composite braking system hierarchical control structure and method of integrated braking cylinder |
| CN104033434A (en) * | 2014-06-19 | 2014-09-10 | 北京北方车辆集团有限公司 | Automatic oil return device for vehicular hydraulic systems and control circuit thereof |
| CN105818797A (en) * | 2015-01-26 | 2016-08-03 | 株式会社万都 | Electronic brake system |
| CN105070180A (en) * | 2015-07-15 | 2015-11-18 | 无锡商业职业技术学院 | Automobile hydraulic brake system experimental device |
| CN109476298A (en) * | 2016-07-27 | 2019-03-15 | 株式会社爱德克斯 | The brake control of vehicle |
| US10464536B2 (en) | 2016-11-11 | 2019-11-05 | Honda Motor Co., Ltd. | Adaptive vehicle braking systems, and methods of use and manufacture thereof |
| CN108082162A (en) * | 2016-11-23 | 2018-05-29 | 通用汽车环球科技运作有限责任公司 | System is managed for the brake fade of line control brake system |
| CN108032848A (en) * | 2018-01-08 | 2018-05-15 | 吉林大学 | A kind of brake power recovering device and its control method |
| CN108032848B (en) * | 2018-01-08 | 2023-09-08 | 吉林大学 | Braking energy recovery device and control method thereof |
| CN108162942A (en) * | 2018-02-06 | 2018-06-15 | 吉林大学 | The line traffic control brake fluid system and its brake control method of four-wheel pressure independent control |
| CN109353323A (en) * | 2018-10-25 | 2019-02-19 | 宁波圣龙汽车动力***股份有限公司 | The ABS control system and method for Electro-hydraulic brake based on hub motor |
| CN109367395A (en) * | 2018-11-14 | 2019-02-22 | 南京航空航天大学 | A kind of Electro-hydraulic brake system and its control method |
| CN110182187A (en) * | 2019-05-21 | 2019-08-30 | 清华大学 | Energy feedback type active brake system and control method with fail safe ability |
| CN110316173A (en) * | 2019-06-21 | 2019-10-11 | 芜湖伯特利电子控制***有限公司 | A method of ESC function and active safety control are realized by automatically controlled Booster and ABS linkage |
| CN111923886A (en) * | 2020-07-07 | 2020-11-13 | 南京天航智能装备研究院有限公司 | Line-controlled chassis electro-hydraulic composite braking system and control method thereof |
| CN111923886B (en) * | 2020-07-07 | 2022-04-19 | 南京天航智能装备研究院有限公司 | Line-controlled chassis electro-hydraulic composite braking system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103231705B (en) | 2015-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103231705B (en) | Brake pedal feel flexibly settable electro-hydraulic composite braking system | |
| CN103253146B (en) | The pedal decoupling type Electro-hydraulic brake system that integrated pedal displacement is measured | |
| CN105150858B (en) | A kind of regeneration brake system and its control method based on ESC hardware | |
| CN102862484B (en) | Hydraulic braking system for feedback of regenerated braking energy of electric vehicle | |
| CN103552557B (en) | There is the Electro-hydraulic brake system of electrodynamic braking power-assisted and brake-by-wire function | |
| CN108501921B (en) | A kind of hydraulic line control brake system and its brake control method with double pressure sources | |
| CN102303597B (en) | Hybrid electrical vehicle (HEV)/electrical vehicle (EV) regeneration brake pressure coordinate control system based on antilock brake system (ABS) hardware | |
| CN103189254B (en) | Hydraulic vehicle brake system | |
| CN204567653U (en) | A kind of EHB | |
| CN103231704A (en) | Electro-hydraulic compound braking system based on hydraulic control unit and integrated braking master cylinder | |
| CN104760586A (en) | Double-motor driving type electronic hydraulic brake system capable of actively simulating pedal feeling | |
| CN102256839B (en) | Brake device for a motor vehicle and method for controlling said brake system | |
| CN104309599A (en) | Electro-hydraulic brake system | |
| CN103318162A (en) | Pedal decoupling type and integrated type brake master cylinder assembly for measuring integrated pedal displacement | |
| CN104520154B (en) | The brake apparatus of vehicle | |
| CN103786703B (en) | Electro-hydraulic composite braking system hierarchical control structure and method of integrated braking cylinder | |
| CN102582601A (en) | Electric-hydro complex brake system employing integral brake master cylinder assembly | |
| CN204775204U (en) | Parallel bar formula full decoupling electron hydraulic braking system | |
| CN101987614A (en) | Electro-hydraulic brake system | |
| CN103950443A (en) | Pedal feeding active control type electronic hydraulic braking system | |
| CN103253250B (en) | A kind of Electro-hydraulic brake system using integrated form brake master cylinder assy | |
| CN105172771A (en) | Electro-hydraulic compound brake-by-wire system of automobile and control method of system | |
| CN201677873U (en) | Hydraulic brake system | |
| CN105015528A (en) | Hydraulic braking force adjusting device for electric-driven vehicle | |
| CN111907500A (en) | Novel electro-hydraulic combined braking system and braking method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |